#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int arg, char **args)
{
    ros::init(arg, args, "robot_tf_publisher");
    ros::NodeHandle node;

    ros::Rate rate(10);

    tf::TransformBroadcaster broadcaster;

    while (ros::ok())
    {
        broadcaster.sendTransform(
            tf::StampedTransform(
                tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
                 ros::Time::now(), "base_link", "base_laser"));
        rate.sleep();
    }
    
    return 0;
}